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fix: the calculation error in the P matrix in the piecewise_jerk_spee… #15779

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fix: the calculation error in the P matrix in the piecewise_jerk_spee… #15779

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1 change: 1 addition & 0 deletions modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_problem.h
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Original file line number Diff line number Diff line change
Expand Up @@ -180,6 +180,7 @@ class PiecewiseJerkProblem {
double weight_dddx_ = 0.0;

double delta_s_ = 1.0;
double delta_t_ = 1.0;

bool has_x_ref_ = false;
double weight_x_ref_ = 0.0;
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23 changes: 11 additions & 12 deletions modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_speed_problem.cc
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Expand Up @@ -86,34 +86,33 @@ void PiecewiseJerkSpeedProblem::CalculateKernel(std::vector<c_float>* P_data,
(scale_factor_[1] * scale_factor_[1]));
++value_index;

auto delta_s_square = delta_s_ * delta_s_;
auto delta_t_square = delta_t_ * delta_t_;
// x(i)''^2 * (w_ddx + 2 * w_dddx / delta_s^2)
columns[2 * n].emplace_back(2 * n,
(weight_ddx_ + weight_dddx_ / delta_s_square) /
(weight_ddx_ + weight_dddx_ / delta_t_square) /
(scale_factor_[2] * scale_factor_[2]));
++value_index;

for (int i = 0; i < n - 1; ++i)
{
columns[2 * n + i + 1].emplace_back(2 * n + i, (-weight_dddx_ / delta_t_square) /
(scale_factor_[2] * scale_factor_[2]));
++value_index;
}

for (int i = 1; i < n - 1; ++i) {
columns[2 * n + i].emplace_back(
2 * n + i, (weight_ddx_ + 2.0 * weight_dddx_ / delta_s_square) /
2 * n + i, (weight_ddx_ + 2.0 * weight_dddx_ / delta_t_square) /
(scale_factor_[2] * scale_factor_[2]));
++value_index;
}

columns[3 * n - 1].emplace_back(
3 * n - 1,
(weight_ddx_ + weight_dddx_ / delta_s_square + weight_end_state_[2]) /
(weight_ddx_ + weight_dddx_ / delta_t_square + weight_end_state_[2]) /
(scale_factor_[2] * scale_factor_[2]));
++value_index;

// -2 * w_dddx / delta_s^2 * x(i)'' * x(i + 1)''
for (int i = 0; i < n - 1; ++i) {
columns[2 * n + i].emplace_back(2 * n + i + 1,
-2.0 * weight_dddx_ / delta_s_square /
(scale_factor_[2] * scale_factor_[2]));
++value_index;
}

CHECK_EQ(value_index, kNumValue);

int ind_p = 0;
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